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..... This isn't bad enough to make me stop driving it, ...
well it's bad enough that i don't want you driving behind me ....

this isn't going to get better. so you will have to isolate it. and it could be anything from the mentioned air in the system (but that doesn't just happen, it means there is a leak somewhere and you need to find it), to an internal leak in the brake master cylinder to the brake hoses you mentioned, to the discs being too thin, to the pads being too thin.
it's going to have to be a process of elimination starting with a good look around at each wheel. brake work is not very technical, but if it is a matter of putting it off until you can spend the time, you might want to at least get it diagnosed from a competent not franchise brake shop or mechanic if you know a good local one.

any history to share on the brakes and/or brake work? is the pedal squeek new? then look up under there where the rod that goes to the pedal comes out of the firewall. see if its wet at all with brake fluid (master cylinder leak). also check on the engine side of the firewall. also take the vacuum hose off and see if you see any brake fluid residue or smell it.

//bc


1992 sohc trooper 3.2l v6 automatic . . . as is

i love a good intermittent electrical challenge. . .especially when it's someone else's.